Gianni Pasolini

Vincenzo Zambianchi, Michel Kieffer, Gianni Pasolini et al.

This paper considers the distributed computation of confidence regions tethered to multidimensional parameter estimation under linear measurement models. In particular, the considered confidence regions are non-asymptotic, this meaning that the number of required measurements is finite. Distributed solutions for the computation of non-asymptotic confidence regions are proposed, suited to wireless sensor networks scenarios. Their performances are compared in terms of required traffic load, both analytically and numerically. The evidence emerging from the conducted investigations is that the best solution for information exchange depends on whether the network topology is structured or unstructured. The effect on the computation of confidence regions of information diffusion truncation is also examined. In particular, it is proven that consistent confidence regions can be computed even when an incomplete set of measurements is available.

Anna Guerra, Francesco Guidi, Gianni Pasolini et al.

Digital maps will revolutionize our experience of perceiving and navigating indoor environments. While today we rely only on the representation of the outdoors, the mapping of indoors is mainly a part of the traditional SLAM problem where robots discover the surrounding and perform self-localization. Nonetheless, robot deployment prevents from a large diffusion and fast mapping of indoors and, further, they are usually equipped with laser and vision technology that fail in scarce visibility conditions. To this end, a possible solution is to turn future personal devices into personal radars as a milestone towards the automatic generation of indoor maps using massive array technology at millimeter-waves, already in place for communications. In this application-oriented paper, we will describe the main achievements attained so far to develop the personal radar concept, using ad-hoc collected experimental data, and by discussing possible future directions of investigation.